Final Team Documentation

Our final machine is essentially the same as our initial design.

We utilized the double gear motor for mobility, and this drives the back two wheels of our machine (pictured under the aluminum strip). Our two front wheels are separately mobile for turning ability. The front of our machine has two arm-towers that support a Polulo metal gear motor attached through gearing to the axle of our swing arm. On the end of the swing arm is our MCM, what we call the ball-grabber. It allows us to pick up balls by lowering the ball-grabber on top of sand-filled squash balls on top of the wave tower, allowing the ball to slide through the beaded elastic bands, and then roll back down the swing arm into the waiting ball hopper, basically just a hole in the middle of our robot.

We standardized as much as possible with our machine. All support structure is based on a single ,achined aluminum angle-bracket piece, we use twelve of these to support both the arm-towers and the ball hopper walls (in white delrin). All of the bolts, except for those restricted by size or other constraint, are 1/4"-20 threaded hex bolts. This standardization allows us a measure of replaceability and ease of fixing.

Our final bill of materials:

• 1/4" Acrylic plate, green 
• 1/8" Delrin plate
• Aluminum plate, 1/16" thick
• Aluminum Square Tube Stock - 1"x1", 1/8" Wall
• Architectural Aluminum Tube (Alloy 6063) Square, 2" X 1", 1/8" Wall
• Aluminum 90 Degree Angle Stock - 1"x1"x6', 1/4" thick
• (10) Flanged brass bushing - 1/4" ID, 3/8" OD
• (6) E-Clip retaining rings - 1/4" Dia.
• (2) 48 D.P.,48 Teeth, 20° Pressure Angle, Acetal/No insert spur gear
• (4) Polypropylene wheels, 3" diameter, 1/4" bore
• Tamiya 70168 Double Gearbox Kit (includes 2 motors)
• Pololu 1576 99:1 Metal Gearmotor 25D x 54L mm HP
• Adhesive Velcro, 1.2 pull-apart, 200 cycles, 1" wide 0.188" thick
• Cable ties
• 2-Part Epoxy
• Assorted standard wiring
• (32) 1/4"-20 bolts and requisite nuts
• (4) strips adhesive backed grip tape
• Pololu metal gearmotor mount
• 1/4" OD aluminum rod
• (6) clear elastic bands - $4.99
• Blue beads (en masse) - $6.99